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In this work an obstacle avoidance technique for strict path following task of robotic systems is proposed and tested through simulations. The main idea is to implement a speed adaption loop which based on a discontinuous signal product of a sliding surface in the state space, modifies the speed of reference for a robot. The strength of this approach is that we solve, under certain conditions, the...
In this paper a proposal is made in order to avoid hypoglycemic events in glycemic closed-loop control. Within the development of closed-loop glucose controllers (referred to as “Artificial Pancreas”), one of the major risks is the insulin induced hypoglycemia that can be produced due to controller overreaction. Here, a supervisory methodology on a main controller is proposed to avoid excessive rates...
This work focuses in the estimation of the specific production rate of intracellular products in fed-batch processes, for the case where high cell densities are present. Particularly, a new volume model is proposed for the high cell density case where a large amount of intracellular product is stored. Based on the model ant the on-line volume measurement, a high order sliding mode observer is proposed...
Designing an algorithm for the glycemic control in T1DM patients is the main goal of many researchers in the artificial pancreas study. In order to achieve this goal, models of the glucose-insulin system were developed. This study reports on the development of a simulator by the working group based in UVa simulator and manifest the importance of the effects of mixed meals and intra-patient variability...
This work presents a reactive geometric invariance method for the coordination of multi-robot systems. Some of the constraints representing the coordination of the multi-robot system are defined in terms of robot sensors that are not affected by the robot kinematics error, e.g., due to miscalibrations or lack of repeatability, in order to obtain accurate enough measurements, other constraints are...
In the great majority of commercial robots the tracking speed along the task-space path usually has to be computed a priori by the robot operator to avoid hitting some input constraints. In this paper, an approach based on sliding mode conditioning of a path parametrization is proposed to achieve the greatest tracking speed which is compatible with the robot input constraints (e.g. joint speeds)....
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